×

MINIMALLY INVASIVE NEUROSURGICAL INTRACRANIAL ROBOT SYSTEM AND METHOD

  • US 20130218005A1
  • Filed: 02/08/2013
  • Published: 08/22/2013
  • Est. Priority Date: 02/08/2012
  • Status: Abandoned Application
First Claim
Patent Images

1. Minimally Invasive Neurosurgical Intracranial Robot (MINIR) system, comprising:

  • a robot sub-system compatible with an imaging system and introduced in an intracranial area containing a target of interest;

    a tracking sub-system operatively coupled to said robot sub-system and generating tracking information corresponding to said robot sub-system position;

    an interface operatively coupled to said imaging system and said tracking sub-system to display substantially in real-time images of the intracranial area generated by said imaging system aligned with said tracking information, wherein said interface is further operatively interconnected between a user and said robot sub-system, and wherein the user applies commands to said interface to manipulate said robot sub-system based on said substantially in real-time images and said tracking information to reach said target of interest for an intended interaction therewith;

    wherein said robot sub-system includes;

    a robot body composed of a plurality of links and N revolute joints interconnecting respective of said plurality of links each to the other, wherein each of said N revolute joints is formed between respective adjacent links for rotational motion of each link with respect to the other about a corresponding rotational axis extending through said each revolute joint in substantially orthogonal relationship to a rotational axis of an adjacent revolute joint;

    a tendon sub-system integrated with said robot body and containing N independent tendons routed through walls of said plurality of links, wherein each of said N tendons is operatively coupled to a respective one of said N revolute joints;

    an actuator sub-system operatively coupled to said tendon sub-system, said actuator sub-system containing N independently operated actuating mechanisms, wherein each actuating mechanism is operatively coupled to a respective one of said N revolute joints through a respective one of said N tendons to independently control said respective revolute joint through controlling the motion of said respective tendon of said tendon sub-system; and

    a control sub-system operatively coupled between said interface and said actuator sub-system;

    wherein said control sub-system generates control signals responsive to the user'"'"'s commands input via said interface and transmits said control signals to said actuator sub-system; and

    wherein said actuator sub-system, responsive to said control signals received thereat, controls, through controlling the motion of at least one said respective tendon, the rotational motion of adjacent links of at least one said revolute joint, thereby steering said robot sub-system relative to said target of interest.

View all claims
  • 1 Assignment
Timeline View
Assignment View
    ×
    ×